• Journal of the Korean Society for Precision Engineering
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• v.30 no.7
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• pp.725-732
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• 2013

This paper presents a torque distribution algorithm for improving the stability and mobility of a wall-climbing robot platform. During ascent, the pitch moment caused by the payload or external disturbances separates the robot's triangular tracks from the wall, significantly deteriorating its stability. Moreover, the reaction forces stemming from the increase in the pulling force may degrade the robot's mobility. Thus, it is very important to minimize the reaction forces acting on the triangular tracks, as well as the fluctuations in the pulling force, during the climb. Through dynamic modeling of the proposed robot platform, we demonstrated the dependence of the robot's stability and mobility on the torque distribution of the triangular tracks. Extensive simulations using different climbing speeds were used to significantly improve the stability and mobility of the proposed robot platform.

• Geomechanics and Engineering
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• v.8 no.5
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• pp.741-756
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• 2015

The prediction of impending collapse of deep tunnel is one of the most difficult problems. Collapse mechanism of deep tunnel in layered soils is derived using a new curved failure mechanism within the framework of upper bound theorem, and effects of seepage forces are considered. Nonlinear failure criterion is adopted in the present analysis, and the possible collapse shape of deep tunnel in the layered soils is discussed in this paper. In the layered soils, the internal energy dissipations along velocity discontinuity are calculated, and the external work rates are produced by weight, seepage forces and supporting pressure. With upper bound theorem of limit analysis, two different curve functions are proposed for the two different soil stratums. The specific shape of collapse surface is discussed, using the proposed curve functions. Effects of nonlinear coefficient, initial cohesion, pore water pressure and unit weight on potential collapse are analyzed. According to the numerical results, with the nonlinear coefficient increase, the shape of collapse block will increase. With initial cohesion of the upper soil increase, the shape of failure block will be flat, and with the lower soil improving, the size of collapsing will be large. Furthermore, the shape of collapsing will decrease with the unit weight decrease.

• Journal of the Earthquake Engineering Society of Korea
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• v.9 no.6 s.46
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• pp.1-12
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• 2005

For a shear-deformable beam-column element subjected io non-conservative forces, equations of motion and a finite element formulation are presented applying extended Hamilton's principle. The influence of non-conservative force's direction parameter, internal and external damping forces, and shear deformation and rotary inertia effects on divergence and flutter loads of Beck's columns are intensively investigated based on element stiffness, damping and mass matrixes derived for the non-conservative system.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.181-190
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• 2015

This paper presents a new approach to control the position of robot arm in workspace a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme was applied. Since parameters of the robot arm such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters was considered as a external disturbance force. To identify the known parameters, an improved robust control algorithm is directly derived from the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using SCARA arm with four joints.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.4
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• pp.696-700
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• 1987

Guide modes in a graded index multinmode optical fiber are turned into clad modes when the optical fiber was bended into a perpendicular direction to its optical axes by microbending forces, which causes the loss of the guiding optical power. The theories reported on this microbending power loss can be applied to calculation of the transmission power loss only when the beding period equals to the mode coupling length. In this paper, we obtained the general expression of the optical power transmission loss in a graded index multimode fiber bended periodically. This can be applied to the calculation of the power loss of the periodically microbended fiber with an arbitrary bending shape and period. Also, by using the beam theory in mechanics, we could derive the expression of the displacement of the optical fiber caused by the external force which bends the fiber into a periodic trapezoidal shape. Experiments were carried out to determine the dependence of the power loss on the period of the microbending forces. Experimnetal results were in good agreement (in the same order of the magnitude) with theoritical values derived in our work within the bending period region of 2mm-10mm.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.118-125
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• 1999

In the grinding process, generally, the exciting forces with high frequency can be generated due to the wheel wear and the grinding process. As the grinding speed increases, the precise investigation about the wheel dynamic characteristics is required. Conventionally the wheel-spindle has been considered with lumped model in dynamic modeling. With this lumped model, the significant mode resulted from the shell mode of wheel can be readily ignored. This paper suggests the new analysis model which includes the shell mode of wheel in modeling the wheel-spindle assembly. Furthermore, based on the suggested model, the effects of the bolt tightening force and the taper tightening force on the dynamic properties are investigated by the finite element modal analysis and the experimental method. As a result of investigation, the shell mode vibration of wheel affects the dynamic characteristics of the spindle assembly. Also, the vibration modes of the spindle assembly are significantly affected by the joint tightening forces.

• Journal of the Korean Society of Physical Medicine
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• v.6 no.2
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• pp.145-151
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• 2011

Purpose: The study was designed to investigate the effects of landing heights on muscle activities and ground reaction force during drop landing. Methods: Sixteen healthy adults were recruited along with their written informed consent. They performed a drop-landing task at the height of 20, 40, and 60cm. They completed three trials in each condition and biomechanical changes were measured. The data collected by each way of landing task and analyzed by One-way ANOVA. Ground reaction forces were measured by force flate, muscle activities measured by MP150 system. Results: There were significant differences in ground reaction forces, and significant increases in muscle activities of tibialis anterior, medial gastrocnemius and biceps femoris with landing heights. Conclusion: These findings revealed that heights of landing increases risk factors of body damage because of biomechanical mechanism and future studies should focus on prevention from damage of external conditions.

• Journal of KSNVE
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• v.5 no.1
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• pp.95-106
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• 1995

Flow-induced vibration in heat exchanger (or fuel rod) in nuclar power plant can cause dynamic interactions between tubes and tube supports resulting in fretting-wear. To increase the reliability and design life of heat exchanger components, design criteria that establish acceptable limits of vibration and minimize fretting wear are necessary. The fretting-wear rate is dependent upon material combination, contact configuration, environmental conditions and tube-to tube support dynamic interaction. It is demostrated that the fretting -wear rate correlates well with tube-to-support contact force or work rate. The tube-to-support dynamic interaction, which consists of dynamic contact forces and tube motion, is used to relate single-span wear data to real heat exchanger configurations consisting of multi-span tube bundles. This paper describes the test facility to measure tube-to-support dynamic impact force and reports its dynamic characteristics through the four impact tests - a force transduces independent and external impact tests, central ring inside impact test and additional cylinder impact test. Through the tests the impact parameter change dependent upon the material difference of impacting ball is studied, and the impact parameters of Force Transducer Assembly components are measured. And also the dynamic behavior of Force Transducer Assembly is analyzed. The force measurement technique herein is shown to provide a reasonable measure of dynamic contact forces.

• Journal of Dental Rehabilitation and Applied Science
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• v.17 no.2
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• pp.113-123
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• 2001

The success of complete denture prosthesis is to satisfy three basic requirements for the edentulous patient : maximum comfort, efficiency, and esthetic appearance. This can be achieved only if the dentures are both stable and retentive. When the residual alveolar ridge has resorbed significantly, stability and retention are more dependent on the correct position of the teeth and external surfaces of the denture. The stability and retention of the denture can be improved by locating the denture in the neutral zone and reproducing exact mandibular border movement for balanced occlusion. The neutral zone philosophy is based upon the concept that there exists a specific area where the musculature function will not unseat the denture in the mouth. In here, forces generated by the tongue are neutralized by the forces generated by the lips and cheeks. One of the simplest methods for recording border movements in three dimensions is to make stereographic record of condylar movement. Stereographs are made in the mouth during mandibular movement with intraoral clutches and central bearing point, and used in dictating the condylar movement on the articulator later by generating the condylar paths in doughy acrylic resin. Its procedure is simpler and more convenient than that of Pantograph. In this clinical report, we introduce the concept of neutral zone and stereograph in complete denture fabrication.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.13 no.1
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• pp.129-138
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• 2000

Composites are finding increasing use in a wide variety of engineering applications due to their outstanding mechanical properties. A number of studies have focused on the development of new materials as well as the response of composite structures to static and dynamic loads by assuming the external driving forces to be deterministic. However, there ate many situations in practice where the exciting forces vary randomly. In this work, the nonlinear response of laminated composite plates excited by stochastic loading is studied by the finite element method. Classical, first-order and third-order shear theories for plates are used in the finite element formulation. Since most composites exhibit significant nonlinearity in the shear stress-strain law, this is included in the present analysis.